Automatic tray feeding harvester

Abstract

The utility model relates to an automatic tray loading harvester, which comprises a main body frame, a lifting module, a push-pull module and a grabbing module, and is characterized in that the lifting module comprises a lifting platform, a lifting track and a lifting cylinder for driving the lifting platform to lift along the lifting track; the push-pull module comprises a linear guide rail fixed to the lifting platform, a sliding block arranged on the linear guide rail in a sliding mode and a push-pull air cylinder, and the grabbing module comprises a grabbing platform connected with the sliding block and the push-pull air cylinder, a rotating air cylinder fixed to the grabbing platform, a rotating shaft driven by the rotating air cylinder and a plurality of clamping jaw modules fixedly arranged on the rotating shaft. Two rows of rotating shafts are mounted below the grabbing platform, and corresponding seedling trays are grabbed by two rows of clamping jaw modules which are oppositely arranged. Therefore, more automatic production can be achieved, and better adaptability is achieved. By adopting a same-up and same-down harvesting mode, the working efficiency is obviously improved.

Description

Technical Field

[0001] The utility model relates to the technology of facility agriculture, in particular to an automatic tray loading and harvesting machine, which can be used for automatically loading and unloading seedling trays of a rotary three-dimensional forage grass planting device and the like. Background Technique

[0002] Forage grass is an important forage for herbivores and is needed by cattle, sheep, horses, rabbits, geese, deer, etc. At present, the development of herbivores to form local industries is often affected by vegetation, which limits the large-scale development in many places. The main problems are limited natural forage or damage to vegetation and soil erosion caused by free-range grazing; this makes it difficult for mountain farmers to raise livestock on a large scale. When using farmland to cultivate forage grass, the yield is not high and it occupies good farmland. In particular, for forage grass to grow well, it has requirements for water and fertilizer. In view of these problems, developing an efficient forage grass production system has become an urgent market demand; the so-called forage grass production system is different from farmland production. It uses fog cultivation or hydroponics to produce in an intensive three-dimensional greenhouse or a container-type plant factory; it uses the climate regulation of the greenhouse to ensure annual production, or uses the precise climate control advantage of the plant factory to carry out stable and unrestricted high-efficiency production; it uses the intelligent control of the computer module to achieve precise control of temperature, light, air, water, and heat, and realize the rapid production of forage grass. Generally, one kilogram of seeds can be converted into 8 kilograms of forage grass one week after sowing. The seeds are usually mainly wheat, barley, oats, and can also be supplemented with bean raw materials; either a spray or a water circulation hydroponic mode can be used. For small-space cultivation boxes, an ultrasonic atomization cultivation method can also be used. Among them, the most widely used production equipment includes a W-shaped circulating seedling raising device, a plant factory, etc. Therefore, a device that can be used in conjunction with a W-shaped circulating seedling raising device and the like is needed to make it more automated and intelligent in actual production and reduce labor costs. Content of the Utility Model

[0003] To solve the above problems, the purpose of the utility model is to provide an automatic tray loading and harvesting machine, which can be adapted to the automatic loading and unloading operations of seedling trays of a rotary three-dimensional forage grass planting device in places such as glass greenhouses and industrial factories.

[0004] According to the utility model, an automatic tray loading and harvesting machine is provided, including: a main body frame, a lifting module, a pushing and pulling module, and a grasping module. Among them, the lifting module includes: a lifting platform, a lifting track, and a lifting cylinder for driving the lifting platform to lift along the lifting track. The pushing and pulling module includes: a linear guide fixed on the lifting platform, a slider slidably arranged on the linear guide, and a pushing and pulling cylinder. The grasping module includes: a grasping platform connected to the slider and the pushing and pulling cylinder, a rotating cylinder fixed to the grasping platform, a rotating shaft driven by the rotating cylinder, and a plurality of jaw modules fixedly arranged on the rotating shaft. Among them, two rows of rotating shafts are installed below the grasping platform, and the corresponding seedling trays are grasped by the jaw module pairs arranged opposite to each other in the two rows.

[0005] Preferably, the bottom of the lifting cylinder is fixed on the bracket of the main frame, and the upper end is connected to the lifting platform. A lifting shaft is arranged on the side of the lifting platform. Bearings are respectively sleeved on each lifting shaft, and the bearings are clamped inside the lifting track, and the lifting track is connected to the main frame.

[0006] Preferably, the grasping module further includes: a bearing seat and a connecting flange. The rotating shaft passes through the bearing seat and is fixed on the rotating cylinder via the connecting flange.

[0007] Preferably, each column of rotating shafts is configured to be provided with multiple rotating shafts coaxially. One end side of each rotating shaft is connected to the rotating cylinder via the connecting flange, and the other end side passes through a plurality of spaced bearing seats.

[0008] Preferably, each jaw module includes: a pivot fixing part for fixing to the rotating shaft, a jaw arm extending downward from the pivot fixing part, and a finger part provided at the lower end side of the jaw arm. A receiving space for the seedling tray is formed between the jaw arms respectively fixed on the two columns of rotating shafts and opposite to each other, and the finger parts arranged opposite to each other are used for grasping the seedling tray.

[0009] Preferably, the finger part includes: a pointer for grasping a predetermined grasping part of the seedling tray, and a spring sleeved on the pointer to apply a biasing elastic force to the pointer.

[0010] Preferably, a plurality of layers of lifting modules are installed on the main frame, and a pushing and pulling module and a grasping module are correspondingly installed for each layer of the lifting module.

[0011] Preferably, the main frame is configured as a cabinet body opening towards the upper tray operation side, and upper and lower layer lifting modules are installed inside the cabinet body.

[0012] Preferably, a flattening cylinder corresponding to the two longitudinal ends of the supporting platform is further arranged on the main frame for aligning the orientation of the supporting platform. The supporting platform is arranged on the seedling raising frame for carrying the seedling tray to be grasped.

[0013] The automatic upper tray harvester of the present utility model can be applied to production equipment such as a W-shaped circulating seedling raising device and a plant factory. It is more automated and intelligent in actual production, reducing labor costs. The structure is simple and has strong adaptability. It can perform grasping under the condition that the supporting platform is deformed greatly. It can perform grasping under the condition that the horizontal misalignment of the seedling tray is serious. Compared with the existing mechanical grippers on the market, the present utility model has better adaptability. And the device adopts the same up and down harvesting method, so that its working efficiency has been significantly improved. Description of the Drawings

[0014] Figure 1 The axonometric drawing of the automatic upper tray harvester is schematically shown.

[0015] Figure 2 A perspective view schematically showing the lifting module of an automatic palletizing harvester and its surrounding structure.

[0016] Figure 3 A perspective view schematically showing the push - pull module of an automatic palletizing harvester and its surrounding structure.

[0017] Figure 4 An axonometric view schematically showing the grasping platform of an automatic palletizing harvester.

[0018] Figure 5 A partial structural view of the lifting platform is schematically shown.

[0019] Figure 6 A working schematic diagram of the flattening cylinder is schematically shown Detailed implementation manners

[0020] The exemplary embodiments of the present utility model will be described in detail below with reference to the accompanying drawings. The exemplary embodiments described below and shown in the drawings are intended to teach the principles of the present utility model so that those skilled in the art can implement and use the present utility model in several different environments and for several different applications. Therefore, the protection scope of the present utility model is defined by the appended claims, and the exemplary embodiments are not intended to, and should not be considered as, a restrictive description of the protection scope of the present utility model. Moreover, for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not necessarily drawn according to the actual proportional relationship. Regarding the orientation description, such as the orientation or positional relationship indicated by up, down, left, right, top, bottom, etc., it is all based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, so it cannot be understood as a limitation to the present utility model. Throughout the drawings, the same elements are represented by the same or similar reference numerals. When it may cause confusion in the understanding of the present disclosure or is not easy to observe and understand, the conventional structure or local structure will be omitted. Unless otherwise specifically stated, the order of the components and the assembly steps and the numerical values set forth in the embodiments do not limit the scope of the present utility model.

[0021] As Figures 1 to 5 shown, the present utility model provides an automatic palletizing harvester, which includes: a main body frame 1, a lifting module 2, a push - pull module 3, a flattening cylinder 4, a grasping module 5, and a five - port three - position solenoid valve (not shown) for pneumatic control, a triple unit (not shown), etc.

[0022] The main body frame 1 is configured as a frame - body structure for supporting other components. Preferably, as Figure 1The shown structure is a cabinet body that opens towards the operation side of the upper plate. A control cabinet and the like are installed on the back side of the cabinet body, and the bottom side of the cabinet body is installed on the ground via legs. Inside the cabinet body, installation and operation spaces for various components are formed via brackets and the like. In Figure 1 In the example of

[0023] Figure 1 The lower lifting module 2 marked in Figure 2 is simply shown in

[0024] and includes: a lifting platform 6 such as a frame type, a plurality of lifting tracks 7, lifting cylinders 8 located on the left and right sides of the lifting platform 6, lifting shafts 9, and a plurality of bearings 10.

[0025] Figure 3 The push - pull module 3 corresponding to the upper lifting module 2 is shown, including: a plurality of linear guide rails 11, a plurality of sliders 12, and a push - pull cylinder 13, etc.

[0026] Among them, as shown in combination with Figure 5 the push - pull cylinder 13 and the linear guide rail 11 are fixedly connected to the lifting platform 6 by bolts. The slider 12 is slidably clamped (for example, nested and joined) on the linear guide rail 11, thus forming a sliding base - type push - pull platform for the grasping module 5. Correspondingly, the entire grasping module 5 is connected to the push - pull cylinder 13 through a connecting plate at the subsequent grasping platform 14 and is connected to the slider 12 by bolt connection. Thus, through the telescopic movement of the push - pull cylinder 13, the grasping module 5 can be driven to move back and forth along the linear guide rail 11.

[0027] Figure 4 The grasping module 5 is shown, including: a grasping platform 14, a plurality of rotating shafts 15, a plurality of square bearing seats 16, a plurality of jaw modules 17, a plurality of connecting flanges 18, and a plurality of rotating cylinders 19.

[0028] Among them, the square bearing seats 16 and the rotating cylinders 19 are respectively fixedly connected to different positions on the grasping platform 14 by bolts. The connecting flange 18 is fixedly connected to the rotating cylinder 19 by bolts. The rotating shaft 15 passes through the bearing seat 16 and is connected to the connecting flange 18 by bolts.

[0029] In some embodiments, two rows of rotating shafts are installed below the grasping platform 14, and each row of rotating shafts is configured to have a plurality of rotating shafts 15 coaxially arranged ( Figure 4 two are shown in the figure), one end side of each rotating shaft 15 is connected to the rotating cylinder 19 via a connecting flange 18, and the other end side passes through a plurality of bearing seats 16 arranged at intervals. A plurality of jaw modules 17 are fixedly arranged at different positions along the rotating shaft 15 by bolts.

[0030] Suppose that n jaw modules 17 are fixedly arranged at intervals on each rotating shaft 15, and a plurality of jaw modules 17 in each row are paired and sequentially divided into m groups of jaw module pairs, and the corresponding seedling trays are grasped by the groups of jaw module pairs arranged opposite to each other in the two rows.

[0031] Each jaw module 17 includes: a pivot fixing portion for fixing to the rotating shaft 15, a jaw arm 20 such as an L-shape, and a jaw finger portion 21 provided at the lower end side of the jaw arm 20. The jaw arm 20 extends downward from the pivot fixing portion, and a receiving space for the seedling tray is formed between the jaw arms 20 on the opposite side (on the other rotating shaft 15). The jaw finger portions 21 arranged opposite to each other are used to grasp the seedling tray.

[0032] The automatic seedling tray loading harvester can use air as the power source, and control the lifting cylinder 8 to drive the lifting platform 6 to perform lifting movement through a three-position five-way solenoid valve, so that the pushing and pulling module 3 fixed on the lifting platform 6 performs corresponding lifting movement accordingly. For the pushing and pulling module 3 itself, the forward and backward movement of the grasping module 5 fixed on the slider 12 can be realized by using a solenoid valve to control the pushing and pulling cylinder 13 in cooperation with the linear guide rail 11. The opening and grasping actions of the relatively arranged jaw module pairs can be realized by controlling the rotating cylinder 19 through a three-position five-way solenoid valve. In this way, the functions of lifting, advancing and retreating, grasping and releasing of the grasping module 5 relative to the seedling tray to be grasped can be realized.

[0033] The seedling tray to be grasped comes from, for example, the supporting platform 22 of the seedling raising rack. Since the seedling trays to be grasped carried on the supporting platform 22 may not be neatly arranged in the same straight line due to reasons such as vibration or downward deflection of the supporting platform 22 itself under its own weight, the jaw finger portion 21 includes: a pointer such as a rod for grasping a predetermined grasping portion of the seedling tray, and a spring (not shown) sleeved on the pointer to apply a biasing elastic force to the pointer. By using the elasticity of the spring, the pointer is allowed to perform telescopic self-adjustment within a certain range, increasing the tolerance in the horizontal direction. Especially when the supporting platform 22 deflects downward in the middle part, the pointer is first clamped to the edge of the supporting platform 22 by using the lifting platform 6, and then the lifting platform 6 is lifted. At this time, by using the elasticity of the spring, the pointer can be slid to the predetermined grasping portion of the seedling tray. In this way, the tolerance in the vertical direction can be increased to ensure that seedling trays in various position forms can be grasped.

[0034] The upper and lower two-layer lifting modules 2 are shown above. However, it is not limited thereto, and more layers can also be provided, and they can also operate in different directions from each other.

[0035] In addition, in order to facilitate aligning the orientation of the support platform 22, each flattening cylinder 4 is arranged on the main body frame (1) corresponding to the two longitudinal ends of the support platform 22, so as to assist in rectifying the support platform 22 that may swing or tilt during the movement process.

[0036] The utility model can be powered by an air compressor. In some embodiments, the upper and lower layers can be configured to work as follows. Among them, the upper layer rises from the standby position, extends and then falls to clamp the seedling tray, and then rises, retracts and then falls to complete the placement of the seedling tray; and the lower layer clamps the seedling tray from the standby position, rises, extends and then falls to complete the placement of the seedling tray, and then rises, retracts and then falls to return to the standby position.

[0037] More specifically, the working process of the upper layer: The lifting cylinder 8 is pushed by air flow to raise the lifting platform 6. Then, the push-pull cylinder 13 cooperates with the linear guide rail 11 to push the grasping module 5 forward to a designated position. After that, the lifting cylinder 8 descends to the original position. The rotating cylinder 19 of the grasping module 5 drives the finger parts 21 of the claw modules 17 arranged opposite to each other to perform the clamping action of the seedling tray. The lifting cylinder 8 rises to drive the seedling tray to rise. Then, the push-pull cylinder 13 retracts. After reaching the position, the lifting cylinder 8 descends, and the rotating cylinder 19 drives the finger parts 21 to open, releasing the seedling tray and placing it at a predetermined harvesting position, and the harvesting action ends. The working process of the lower layer: The rotating cylinder 19 is driven by air flow to drive the finger parts 21 to clamp the seedling tray. The lifting cylinder 8 rises to drive the seedling tray to rise. Then, the push-pull cylinder 13 cooperates with the linear guide rail 11 to push the grasping module 5 forward to a designated position. After that, the lifting cylinder 8 descends to the original position. The rotating cylinder 19 of the grasping module 5 opens the claw modules 17 arranged opposite to each other, and the finger parts 21 release the seedling tray. The lifting cylinder 8 rises, and then the push-pull cylinder 13 retracts, and the harvesting action ends. Of course, the operations of the upper and lower layers are not limited to the above clamping and releasing, and can be specifically set according to needs.

[0038] In the description of the present application, "a plurality of" means two or more than two, unless otherwise specifically defined. Unless otherwise clearly specified and defined, terms such as "installed", "connected", "coupled", "fixed", etc. shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances. Although the present utility model has been described with reference to various specific embodiments, it should be understood that modifications can be made within the spirit and scope of the described inventive concept. Therefore, it is intended that the present utility model is not limited to the described embodiments, but will have the full scope defined by the language of the appended claims.

Claims

1. An automatic harvester, characterized in that: include: A main frame (1), a lifting module (2), a push-pull module (3), and a grabbing module (5), wherein the lifting module (2) comprises: a lifting platform (6), a lifting track (7), and a lifting cylinder (8) for driving the lifting platform (6) to move up and down along the lifting track (7); the push-pull module (3) comprises: a linear guide rail (11) fixed on the lifting platform (6), a slider (12) slidably arranged on the linear guide rail (11), and a push-pull cylinder (13); the grabbing module (5) comprises: a grabbing platform (14) connected to the slider (12) and the push-pull cylinder (13); a rotating cylinder (19) fixed on the grabbing platform (14), a rotating shaft (15) driven by the rotating cylinder (19), and a plurality of gripping claw modules (17) fixed on the rotating shaft (15); wherein two rows of rotating shafts (15) are installed below the grabbing platform (14), and the corresponding seedling trays are gripped by pairs of gripping claw modules (17) arranged opposite to each other in the two rows.

2. The automatic tray harvester according to claim 1, characterized in that: The bottom of the lifting cylinder (8) is fixed on a bracket of the main frame (1), and the upper end is connected to the lifting platform (6). The side of the lifting platform (6) is provided with a lifting shaft (9), and a bearing (10) is sleeved on each lifting shaft (9). The bearing (10) is clamped on the inner side of the lifting track (7), and the lifting track (7) is connected to the main frame (1).

3. The automatic tray harvester according to claim 1, characterized in that: The gripping module (5) further comprises: a bearing seat (16) and a connecting flange (18); the rotating shaft (15) passes through the bearing seat (16) and is fixed on the rotating cylinder (19) via the connecting flange (18).

4. The automatic tray harvester according to claim 3, characterized in that: Each row of rotating shafts is constructed by coaxially arranging a plurality of rotating shafts (15), one end of each rotating shaft (15) is connected to a rotating cylinder (19) via a connecting flange (18), and the other end passes through a plurality of bearing seats (16) arranged at intervals.

5. The automatic tray harvester according to claim 1, characterized in that: Each clamping claw module (17) comprises: a pivot fixing portion for fixing to the rotating shaft (15), a clamping claw arm (20) extending downward from the pivot fixing portion, and a clamping finger portion (21) arranged on the lower end side of the clamping claw arm (20); a accommodating space for the seedling tray is formed between the clamping claw arms (20) respectively fixed to two rows of rotating shafts (15) and opposite to each other, and the clamping finger portions (21) arranged opposite to each other are used to clamp the seedling tray.

6. The automatic tray harvester according to claim 5, characterized in that: The clamping finger portion (21) comprises: a pointer for clamping a predetermined clamping position of the seedling tray, and a spring sleeved on the pointer for applying a biasing elastic force to the pointer.

7. The automatic tray harvester according to claim 1, characterized in that: A plurality of layers of lifting modules (2) are installed on the main frame (1), and a push-pull module (3) and a grabbing module (5) are installed correspondingly to the lifting modules (2) on each layer.

8. The automatic tray harvester according to claim 7, characterized in that: The main frame (1) is configured as a cabinet body which is open toward the upper plate operation side, and upper and lower lifting modules (2) are installed inside the cabinet body.

9. The automatic tray harvester according to claim 7, characterized in that: The main frame (1) is also provided with flattening cylinders (4) corresponding to the two longitudinal ends of the supporting platform (22) for aligning the orientation of the supporting platform (22). The supporting platform (22) is arranged on the seedling raising frame for carrying the seedling tray to be grasped.

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